So just to clarify, let me recap, and please tell me if this is correct:
You do have orgasms, both by yourself and by your H's hand or mouth.
You do not have intercourse, or very rarely attempt it, and the main reason is because you fear failure, and also because you do not equate intercourse with intimacy and therefore the thought of it does not make you want it.
Your husband has had no previous lovers and therefore, I will make a guess, that he is not necessarily a "good" lover.